302
Here, e(t) is offset value, r ( t ) is the setting value, c ( t ) is actual output value and the u(t) is
the control value;
In function (1-2), Kp is the proportion coefficient, Ti is the integration time coefficient, and
TD is the differential time coefficient.
The result of the operation:
1
．
Analog output: digital form of MV = u(t), the default range is 0~4095.
2
．
Digital output: Y = T * [MV / PID output upper limit]. Y is the outputs activate time
within the control cycle. T is the control cycle, equals to the sampling time. PID output upper
limit default value is 4095.
7-3 Parameters setting
Users can call PID in XDP Pro software directly and set the parameters in the window (see
graph below), for the details please refer to XDP Pro user manual. Users can also write the
parameters into the specified registers by MOV instructions before PID operation.
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